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Mixed robot dynamic path planning method

A dynamic path and robot technology, applied in the direction of two-dimensional position/channel control, etc., can solve the problems of non-optimized path, slow calculation speed, difficult to deal with dynamic obstacles, etc., and achieve the effect of strong flexibility and path optimization

Inactive Publication Date: 2013-05-08
ZHEJIANG UNIV
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AI Technical Summary

Problems solved by technology

The path obtained by using only the above-mentioned online path planning method is less optimized, and only using the above-mentioned offline planning method is slower in calculation speed, and it is more difficult to deal with dynamic obstacles

Method used

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Embodiment Construction

[0018] The purpose and effects of the present invention will become more apparent by describing the present invention in detail below in conjunction with the accompanying drawings.

[0019] like figure 1 As shown, the hybrid robot dynamic path planning method of the present invention comprises the following steps:

[0020] Step 1: Use the visual sensor to obtain environmental information, including known static obstacle information in the environment, target point information, and the position information of the robot itself.

[0021] This step can use the method in Chapter 3 of Liu Mingshuo. Flexible Manipulator Trajectory Tracking Based on Binocular Vision Odometry. Dissertation of Zhejiang University. 2011.04 to obtain the position information of the obstacle and the position of the robot itself.

[0022] Step 2: The environmental information obtained in step 1 is represented by the grid method to obtain a grid map, and the size of the grid depends on the planning accuracy...

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Abstract

The invention discloses a mixed robot dynamic path planning method which is capable of being applied on the condition that a part of environment information is known, and unknown dynamic and static obstacles exist at the same time. Aiming at the conditions, the mixed robot dynamic path planning method comprises the following steps: utilizing a genetic algorithm (GA) as a global planning method to obtain global paths, and then conducting local planning by means of an improved artificial potential field method. According to the mixed robot dynamic path planning method, in local planning, speed and acceleration information of a robot and a barrier is considered, and therefore the mixed robot dynamic path planning method has better effects on processing dynamic path planning. In addition, effects of global planning path for local planning are also considered. The mixed robot dynamic path planning method is ease to achieve, robot paths obtained are more optimized, and meanwhile good flexibility is shown in the application.

Description

technical field [0001] The invention relates to a path planning method, in particular to a path planning method for a mobile robot in an environment with dynamic obstacles and static obstacles. Background technique [0002] Real-time path planning and navigation of mobile robots is one of the key elements reflecting the robot's autonomous ability, and it is also one of the more difficult problems to solve. Robot path planning is mainly divided into planning with known environmental information and planning with unknown environmental information. For the former, offline planning is mostly used, and the obtained path is better, while the latter mostly uses online planning, which reflects the real-time nature of path planning. [0003] In recent years, many path planning methods have been studied by people. The main path planning methods can be divided into two categories - artificial intelligence methods (AI) and artificial potential field methods (APF). The former mainly u...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 许源刘山
Owner ZHEJIANG UNIV
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